Research On Dynamic Modeling And Control Strategy Of Ship Borne 6-dof Stable Platform

When carrying out the task of personnel rescue or personnel transfer at sea,due to the influence of wind and waves and other factors,the ship will produce multidimensional sway movement which is not conducive to personnel transfer,which brings danger and challenge to the ship carrying out such task at sea.The stable platform on the ship generates compensation motion of multi-dimensional sway motion of the ship,which makes the end of the stable platform relatively stable relative to the geodetic coordinate system,so as to ensure the safety and efficiency of personnel transfer process.In this paper,the dynamic model and control strategy of the parallel platform of ship borne stability system are studied.First of all,based on the analysis of the working process and principle of the ship borne stable platform,the inverse kinematics model of the ship borne stable platform under the inertial system and non inertial system is established,which lays the foundation for the dynamic modeling.Secondly,the numerical differentiation method is used to simplify the solving steps of the inertial force / moment of the moving components of the ship borne stable platform,and a dynamic model simplification method based on the numerical differentiation is proposed,which improves the calculation efficiency of the dynamic model under the inertial system and non inertial system of the platform to a certain extent;based on the virtual work principle,the dynamic equation of the ship borne stable platform is established,and the solution is made In order to improve the differential accuracy and calculation efficiency of numerical differentiation method,a first-order and second-order numerical high-precision differential formula is derived based on Lagrange interpolation method,and its error is verified;the validity and feasibility of the dynamic model of ship borne stable platform in inertial system and non inertial system are verified by ADAMS;the validity and feasibility of the dynamic model of ship borne stable platform in inertial system and non inertial system are verified by Lagrange interpolation method The kinematics and dynamics model and numerical differential formula of shipboard stable platform are developed by MATLAB.The dynamic parametric analysis,kinematics parametric analysis and workspace parametric analysis system based on Monte Carlo method are developed under inertial and non inertial system.Finally,in order to realize the real-time control of the high precision and high response speed of the shipboard stable platform,based on the position / speed cascade control of the driving joint,the composite control theory of the speed feed-forward,acceleration feed-forward and feed-forward control based on the dynamic model of the operation space is proposed.On this basis,with the help of link module in MATLAB to build virtual sample,the control simulation of virtual prototype in Simulink environment is further completed.